Realization of an industrial mobile transporter robot with servo-mechanism for material handling and its fuzzy logic based line tracking control

The thesis consists of two parts. The first part is, designing and realizing of an industrialtransport robot and the second part is applying a line tracker controller via Fuzzy Logic.In industry, all factories need to transport lots of materials from one place to another and thisis a common and continuous problem for all of them. This application is concernedtransporting of thread bobbin which is one of the most frequently replaced material in thetextile industry.When thread bobbins are replaced manually, loss of time and unnecessary expenses occur inthe process. As a result, efficiency of factories decreases. Replacement of bobbins is realizedvery quickly with industrial transportation robot project. Thus, cost of process decreases andproductivity increases.One of the road tracking technique for mobile robots is the line following technique. In thisapplication, road tracking is achieved, via line tracking technique by fuzzy logic controllerrunning on MATLAB. Application of robot, receives RF signal from a loom which needs athread, with that signal, robot takes the necessary thread, goes to the loom which sent the RFsignal and changes the finished bobbin with the new one and finally takes the finished threadand gets ready for a new signal.Keywords: Control, Matlab, Fuzzy Logic, automation, mobile, robot, PLC, servo, motor, linefollower, differential steering, radio frequency.